Processing control method, processing controller, product processing device, and storage medium

Abstract

The application discloses a processing control method, a processing controller, a product processing device and a storage medium. The method comprises the following steps: placing a product to be processed on a target station, acquiring an actual shaft center corresponding to a multi-axis jig corresponding to the target station and an original theoretical shaft center; acquiring a shaft center offset according to the actual shaft center and the original theoretical shaft center; acquiring a target rotation angle corresponding to the product to be processed; acquiring a shaft center compensation value according to the shaft center offset and the target rotation angle; acquiring a target theoretical shaft center according to the actual shaft center and the shaft center compensation value; and controlling the multi-axis jig to process the product to be processed based on the target theoretical shaft center. The method can guarantee processing precision and improve flexibility and practicability of a processing process.

Description

Technical Field

[0001] This invention relates to the field of product processing technology, and in particular to a processing control method, a processing controller, product processing equipment, and a storage medium. Background Technology

[0002] Multi-axis fixtures refer to fixtures containing multiple axes, such as four-axis fixtures. Currently, when using multi-axis fixtures for multi-axis linkage machining of products, if multi-axis machining is incomplete or over-milling occurs, the only solution is to repair the multi-axis fixture or reset the machining program based on its current state to meet the machining requirements of the product. This results in poor flexibility and practicality. Generally, when using multi-axis fixtures for multi-axis linkage machining of products, the fixtures are large and heavy, and machine setup errors are inevitable, easily leading to incomplete machining or over-milling. Multi-axis fixtures have many components, and accumulated errors between these components can easily lead to incomplete machining or over-milling. Fluctuations in product processing can cause mismatches between the multi-axis fixture and its machining program, easily leading to incomplete machining or over-milling. Differences in the machine tool and hardware conditions of the machine tool with the multi-axis fixture require the use of multiple machining programs to adapt to the machine tool; if the machining program is incompatible with the machine tool, it can also lead to incomplete machining or over-milling. Summary of the Invention

[0003] This invention provides a machining control method, a machining controller, a product machining equipment, and a storage medium to solve the problems of poor flexibility and practicality in existing multi-axis fixture machining processes.

[0004] This invention provides a processing control method, comprising:

[0005] Place the product to be processed at the target workstation and obtain the actual axis center and the original theoretical axis center of the multi-axis fixture corresponding to the target workstation.

[0006] The axis offset is obtained based on the actual axis and the original theoretical axis.

[0007] Obtain the target rotation angle corresponding to the product to be processed;

[0008] The axis compensation value is obtained based on the axis offset and the target rotation angle;

[0009] Based on the actual axis center and the axis center compensation value, the target theoretical axis center is obtained;

[0010] Based on the target theoretical axis, the multi-axis fixture is controlled to process the product to be processed.

[0011] Preferably, the actual axis center includes the actual Y-axis coordinate and the actual Z-axis coordinate; the original theoretical axis center includes the original theoretical Y-axis coordinate and the original theoretical Z-axis coordinate.

[0012] The step of obtaining the axis offset based on the actual axis and the original theoretical axis includes:

[0013] Based on the actual Y-axis coordinates and the original theoretical Y-axis coordinates, the Y-axis offset of the axis is obtained;

[0014] Based on the actual Z-axis coordinates and the original theoretical Z-axis coordinates, the Z-axis offset of the axis is obtained;

[0015] The axis offset includes the axis Y-axis offset and the axis Y-axis offset.

[0016] Preferably, the actual axis includes a first actual axis corresponding to the initial time and a second actual axis corresponding to the current time; the original theoretical axis includes a first theoretical axis corresponding to the initial time and a second theoretical axis corresponding to the current time.

[0017] The step of obtaining the axis offset based on the actual axis and the original theoretical axis includes:

[0018] The first offset is obtained based on the first actual axis and the first theoretical axis corresponding to the initial moment;

[0019] The second offset is obtained based on the second actual axis and the second theoretical axis corresponding to the current moment;

[0020] The axis offset is obtained based on the first offset and / or the second offset.

[0021] Preferably, the first actual axis includes a first actual X-axis coordinate, a first actual Y-axis coordinate, and a first actual Z-axis coordinate, and the second actual axis includes a second actual X-axis coordinate, a second actual Y-axis coordinate, and a second actual Z-axis coordinate;

[0022] The first theoretical axis includes a first theoretical X-axis coordinate, a first theoretical Y-axis coordinate, and a first theoretical Z-axis coordinate; the second theoretical axis includes a second theoretical X-axis coordinate, a second theoretical Y-axis coordinate, and a second theoretical Z-axis coordinate.

[0023] The step of obtaining the first offset based on the first actual axis and the first theoretical axis corresponding to the initial time includes:

[0024] Based on the first actual Y-axis coordinate and the first theoretical Y-axis coordinate, a first Y-axis offset is obtained; based on the first actual Z-axis coordinate and the first theoretical Z-axis coordinate, a first Z-axis offset is obtained; wherein, the first offset includes the first Y-axis offset and the first Z-axis offset;

[0025] The step of obtaining the second offset based on the second actual axis and the second theoretical axis corresponding to the current moment includes:

[0026] Based on the second actual Y-axis coordinate and the second theoretical Y-axis coordinate, obtain the second Y-axis offset; based on the second actual Z-axis coordinate and the second theoretical Z-axis coordinate, obtain the second Z-axis offset; wherein, the second offset includes the second Y-axis offset and the second Z-axis offset;

[0027] The step of obtaining the axis offset based on the first offset and / or the second offset includes:

[0028] The axis Y-axis offset is obtained based on the first Y-axis offset and / or the second Y-axis offset; the axis Z-axis offset is obtained based on the first Z-axis offset and / or the second Z-axis offset; wherein the second Z-axis offset includes the axis Y-axis offset and the axis Y-axis offset.

[0029] Preferably, the shaft offset includes a shaft offset in the Y direction and a shaft offset in the Y direction.

[0030] The step of obtaining the axis compensation value based on the axis offset and the target rotation angle includes:

[0031] The Y-axis compensation value is obtained based on the Y-axis offset, the Z-axis offset, and the target rotation angle.

[0032] The Z-axis compensation value is obtained based on the Y-axis offset, the Z-axis offset, and the target rotation angle.

[0033] The shaft center compensation value includes the shaft center Y-axis compensation value and the shaft center Z-axis compensation value.

[0034] Preferably, obtaining the axis Y-axis compensation value based on the axis Y-axis offset, the axis Z-axis offset, and the target rotation angle includes:

[0035] The Y-axis compensation value is calculated using the Y-axis offset, the Z-axis offset, and the target rotation angle to obtain the Y-axis compensation value. The Y-axis compensation value formula is: Y-axis compensation value = Z-axis offset * sinT + Y-axis offset * cosT.

[0036] The step of obtaining the Z-axis compensation value based on the Y-axis offset, the Z-axis offset, and the target rotation angle includes:

[0037] The Z-axis compensation value formula is used to calculate the Y-axis offset of the axis, the Z-axis offset of the axis, and the target rotation angle to obtain the Z-axis compensation value. The Z-axis compensation value formula is: Z-axis compensation value = Z-axis offset * cosT - Y-axis offset * sinT;

[0038] Where T is the target rotation angle.

[0039] Preferably, the actual axis center includes the actual Y-axis coordinate and the actual Z-axis coordinate; the axis center compensation value includes the axis center Y-axis compensation value and the axis center Z-axis compensation value;

[0040] The step of obtaining the target theoretical axis center based on the actual axis center and the axis center compensation value includes:

[0041] Based on the actual Y-axis coordinates and the Y-axis compensation value, the target theoretical Y-axis coordinates are obtained;

[0042] The target theoretical Z-axis coordinates are obtained based on the actual Z-axis coordinates and the Z-axis compensation value.

[0043] This invention also provides a processing controller, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the processing control method described above.

[0044] This invention also provides a product processing device, including a target station for placing the product to be processed, a multi-axis fixture disposed opposite to the target station, and the aforementioned processing controller, which is connected to the multi-axis fixture.

[0045] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described processing control method.

[0046] The aforementioned processing control method, processing controller, product processing equipment, and storage medium, based on the actual collected axis center and the original theoretical axis center, combined with the target rotation angle corresponding to the product to be processed, accurately determine the axis center compensation value in real time. Then, based on the actual axis center and the axis center compensation value, the target theoretical axis center after compensation using the axis center offset can be obtained, ensuring the accuracy of the target theoretical axis center. During the processing of the product to be processed using a multi-axis fixture controlled according to the target theoretical axis center, problems such as incomplete processing or over-milling can be effectively avoided, helping to ensure processing accuracy. Understandably, when errors occur in the multi-axis fixture, processing operations are performed by controlling the multi-axis fixture according to the target theoretical axis center formed by the axis center offset. There is no need to repair the multi-axis fixture or update the processing program, thus ensuring processing accuracy. This improves the flexibility and practicality of the processing process, avoids the impact of fluctuations in product processing on processing accuracy, and is compatible with machine tools equipped with multi-axis fixtures, making mass production feasible. Attached Figure Description

[0047] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a flowchart of a processing control method according to an embodiment of the present invention;

[0049] Figure 2 This is another flowchart of the processing control method in one embodiment of the present invention;

[0050] Figure 3 This is a schematic diagram of a processing control method in one embodiment of the present invention;

[0051] Figure 4 This is another schematic diagram of the processing control method in one embodiment of the present invention. Detailed Implementation

[0052] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] The machining control method provided in this embodiment of the invention can be applied to a machining controller, which is connected to a multi-axis fixture. The machining controller is equipped with a machining control program, which can be executed to control the multi-axis fixture to perform precise machining on the product to be machined, so as to avoid problems such as incomplete machining or over-milling.

[0054] In one embodiment, such as Figure 1 As shown, a processing control method is provided, which is applied to... Figure 1 Taking the machining controller in the example, the following steps are included:

[0055] S101: Place the product to be processed at the target station and obtain the actual axis center and the original theoretical axis center of the multi-axis fixture corresponding to the target station;

[0056] S102: Obtain the axis offset based on the actual axis and the original theoretical axis;

[0057] S103: Obtain the target rotation angle corresponding to the product to be processed;

[0058] S104: Obtain the axis compensation value based on the axis offset and the target rotation angle;

[0059] S105: Obtain the target theoretical axis based on the actual axis center and axis center compensation value;

[0060] S106: Based on the target theoretical axis, control the multi-axis fixture to process the product to be processed.

[0061] Here, "product to be processed" refers to the product that needs to be processed; for example, a mobile phone could be the product to be processed. The target workstation is the fixture used to place the product to be processed so that the multi-axis fixture can process it. The actual axis center refers to the axis center corresponding to the multi-axis fixture, determined by actual measurement. The original theoretical axis center refers to the axis center calculated and determined in real-time by the machining control program; it is the axis center without compensation or correction.

[0062] As an example, in step S101, when using a machining controller to control a multi-axis fixture to process the product to be processed, the product to be processed must first be placed on the target station. Specifically, the product to be processed can be placed on the fixture of the target station to fix the product to be processed, so as to avoid the product to be processed from displacement during the processing process, which would affect the processing accuracy.

[0063] In this example, after the product to be processed is placed at the target workstation, the processing controller can be powered on and started. The processing controller can control the connected axis centering measuring device to acquire the actual axis center of the multi-axis fixture corresponding to the target workstation, and obtain the corresponding original theoretical axis center at the same time. The actual axis center is the axis center position actually measured by the axis centering measuring device. The original theoretical axis center is the axis center position actually calculated by the processing controller running the processing control program.

[0064] Understandably, when the machining controller places the product to be processed on the target station, it can acquire the actual axis center and the original theoretical axis center at the initial moment when the machining control program starts; and / or, during the operation of the machining control program, it can acquire the actual axis center and the original theoretical axis center in real time so that axis center compensation can be performed based on the acquired actual axis center and the original theoretical axis center, thereby ensuring the accuracy of machining the product to be processed.

[0065] Among them, the axis offset refers to the offset calculated based on the actual axis and the original theoretical axis.

[0066] As an example, in step S102, the machining controller can employ a pre-set axis offset calculation strategy to calculate the actual axis center and the original theoretical axis center, two input parameters corresponding to the multi-axis fixture, and output the calculated axis offset. This axis offset calculation strategy is a pre-set strategy used to calculate and determine the axis offset in real time based on the input parameters of the actual axis center and the original theoretical axis center. Understandably, the axis offset can be determined by calculating the offset corresponding to each dimension based on the three-dimensional coordinates of the actual axis center and the original theoretical axis center in the same spatial coordinate system.

[0067] The target rotation angle is determined based on the processing requirements of the product to be processed, specifying the rotation angle that needs to be controlled during processing.

[0068] As an example, in step S103, when the product to be processed needs to be processed, the user can determine the target rotation angle corresponding to the product to be processed according to the actual processing requirements and input the target rotation angle into the processing controller so that the processing controller can obtain the target rotation angle corresponding to the product to be processed, so as to use the target rotation angle to perform correction processing on the multi-axis fixture in the future.

[0069] As an example, in step S104, after acquiring the axis offset and target rotation angle, the machining controller can use a pre-set axis compensation value calculation strategy to calculate the axis compensation value based on these two input parameters. This axis compensation value calculation strategy is a pre-set strategy used to calculate the axis compensation value in real time based on the input axis offset and target rotation angle. Understandably, this axis compensation value can be understood as the value that needs to be compensated to the theoretical axis center value used for calculation.

[0070] Among them, the target theoretical axis center refers to the theoretical axis center calculated in real time by the machining control program using axis center compensation values ​​and the actual axis center.

[0071] As an example, in step S105, after obtaining the axis compensation value, the machining controller can obtain the actual axis measured by the axis measuring device. Then, using a pre-set theoretical axis calculation strategy, it calculates the actual axis and the axis compensation value to obtain the target theoretical axis. Understandably, using the actual axis and the axis compensation value to calculate the target theoretical axis in real time allows for the compensation of the axis offset to the theoretical axis calculation process, ensuring the accuracy of the calculated target theoretical axis and helping to guarantee the precision of machining control using the target theoretical axis.

[0072] As an example, in step S106, after obtaining the target theoretical axis, the machining controller can control the multi-axis fixture to perform machining operations on the product to be machined according to the target theoretical axis. Since the target theoretical axis is the theoretical axis after compensation by the axis offset, the accuracy of the target theoretical axis can be guaranteed. During the machining process of the multi-axis fixture to be machined according to the target theoretical axis, the problem of incomplete machining or over-milling can be effectively avoided, which helps to ensure machining accuracy.

[0073] In the machining control method provided in this embodiment, the actual axis center and the original theoretical axis center are collected in real time, and the target rotation angle corresponding to the product to be processed is combined to accurately determine the axis center compensation value. Then, based on the actual axis center and the axis center compensation value, the target theoretical axis center after compensation using the axis center offset can be obtained, which can ensure the accuracy of the target theoretical axis center. When controlling the multi-axis fixture to process the product to be processed according to the target theoretical axis center, the problems of incomplete processing or over-milling can be effectively avoided, which helps to ensure machining accuracy. Understandably, when the multi-axis fixture has errors, the machining operation is carried out by controlling the multi-axis fixture according to the target theoretical axis center formed by the axis center offset. There is no need to repair the multi-axis fixture or update the machining program, which can ensure machining accuracy. It can improve the flexibility and practicality of the machining process, avoid the impact of product processing fluctuations on machining accuracy, and is compatible with machine tools that install multi-axis fixtures, making it feasible for mass production.

[0074] In one embodiment, the actual axis center includes the actual X-axis coordinate, the actual Y-axis coordinate, and the actual Z-axis coordinate; the original theoretical axis center includes the original theoretical X-axis coordinate, the original theoretical Y-axis coordinate, and the original theoretical Z-axis coordinate.

[0075] Step S102, namely, obtaining the axis offset based on the actual axis and the original theoretical axis, includes:

[0076] Based on the actual Y-axis coordinates and the original theoretical Y-axis coordinates, obtain the Y-axis offset of the axis center;

[0077] Based on the actual Z-axis coordinates and the original theoretical Z-axis coordinates, obtain the Z-axis offset of the axis;

[0078] The axis offset includes the axis Y-axis offset and the axis Y-axis offset.

[0079] As an example, the actual axis includes the actual X-axis coordinate, the actual Y-axis coordinate, and the actual Z-axis coordinate. Let the actual axis be A(Xa,Ya,Za), where Xa is the actual X-axis coordinate, Ya is the actual Y-axis coordinate, and Za is the actual Z-axis coordinate. The original theoretical axis includes the original theoretical X-axis coordinate, the original theoretical Y-axis coordinate, and the original theoretical Z-axis coordinate. Let the original theoretical axis be B(Xb,Yb,Zb), where Xb is the original theoretical X-axis coordinate, Yb is the original theoretical Y-axis coordinate, and Zb is the original theoretical Z-axis coordinate.

[0080] Generally speaking, when a machining controller controls the operation of a multi-axis fixture, errors in the frame design, the components of the multi-axis fixture, the fluctuations in the product processing, and the operating conditions of the machine tool and hardware can cause changes in the Y-axis and Z-axis of the multi-axis fixture. These changes can affect the machining accuracy of the multi-axis fixture.

[0081] As an example, when the machining controller changes the Y-axis of the multi-axis fixture, it can obtain the Y-axis offset based on the actual Y-axis coordinate and the original theoretical Y-axis coordinate. Specifically, the difference between the actual Y-axis coordinate and the original theoretical Y-axis coordinate is determined as the Y-axis offset, i.e., Yab = Ya - Yb, where Yab is the Y-axis offset, Ya is the actual Y-axis coordinate, and Yb is the original theoretical Y-axis coordinate.

[0082] As an example, when the machining controller changes the Z-axis of the multi-axis fixture, it can obtain the Z-axis offset based on the actual Z-axis coordinate and the original theoretical Z-axis coordinate. Specifically, the difference between the actual Z-axis coordinate and the original theoretical Z-axis coordinate is determined as the Z-axis offset, i.e., Zab = Za - Zb, where Zab is the Z-axis offset, Za is the actual Z-axis coordinate, and Zb is the original theoretical Z-axis coordinate.

[0083] In one embodiment, the actual axis includes a first actual axis corresponding to the initial time and a second actual axis corresponding to the current time;

[0084] The original theoretical axis includes the first theoretical axis corresponding to the initial time and the second theoretical axis corresponding to the current time;

[0085] Step S102, as follows Figure 2 As shown, the axis offset is obtained based on the actual axis and the original theoretical axis, including:

[0086] S201: Obtain the first offset based on the first actual axis and the first theoretical axis corresponding to the initial moment;

[0087] S202: Obtain the second offset based on the second actual axis and the second theoretical axis corresponding to the current moment;

[0088] S203: Obtain the axis offset based on the first offset and / or the second offset.

[0089] The initial moment refers to the moment when control of the multi-axis fixture begins. The current moment refers to the current moment of the system.

[0090] As an example, after placing the product to be processed at the target station, the machining controller starts the machining control program to collect the first actual axis and the first theoretical axis corresponding to the multi-axis fixture at the initial moment; and collects the second actual axis and the second theoretical axis corresponding to the multi-axis fixture at the current moment.

[0091] As an example, in step S201, the machining controller can use a pre-set axis offset calculation strategy to calculate the two input parameters, the first actual axis and the first theoretical axis, corresponding to the multi-axis fixture, and output the calculation result of the first offset. Understandably, based on the three-dimensional coordinates of the first actual axis and the first theoretical axis in the same spatial coordinate system, the offset corresponding to each dimension can be calculated, thus determining the first offset at the initial moment.

[0092] As an example, in step S202, the machining controller can use a pre-set axis offset calculation strategy to calculate the two input parameters—the second actual axis and the second theoretical axis—corresponding to the multi-axis fixture, and output the calculation result of the second offset. Understandably, based on the three-dimensional coordinates of the second actual axis and the second theoretical axis in the same spatial coordinate system, the offset corresponding to each dimension can be calculated, thus determining the second offset at the current moment.

[0093] As an example, in step S203, the machining controller can directly determine the first offset corresponding to the initial moment as the axis offset of the multi-axis fixture, so that the target theoretical axis can be determined by subsequent compensation calculation based on the axis offset, and the multi-axis fixture can be controlled to process the product to be processed. This method determines the axis offset at the initial moment, which can overcome the influence of machine design errors, multi-axis fixture component errors and machine tool and hardware operating conditions errors on control accuracy. No subsequent real-time calculation is required, which helps to improve processing efficiency and accuracy.

[0094] As another example, in step S203, the machining controller can directly determine the second offset corresponding to the current moment as the axis offset of the multi-axis fixture, so that the target theoretical axis is determined by subsequent compensation calculation based on the axis offset, and the multi-axis fixture can be controlled to process the product to be processed. This method calculates and determines the axis offset in real time at the current moment, which can overcome the influence of the fluctuation error of the machining process on the control accuracy and help ensure the machining accuracy.

[0095] As another example, in step S203, the machining controller can comprehensively calculate and determine the axis offset of the multi-axis fixture based on the first offset corresponding to the initial time and the second offset corresponding to the current time. For example, the sum of the first offset and the second offset is determined as the axis offset of the multi-axis fixture, so that the target theoretical axis is determined by subsequent compensation calculation based on the axis offset, and the multi-axis fixture is controlled to process the product to be processed. This method calculates and determines the axis offset in real time at the current time, which can overcome the influence of machine design errors, multi-axis fixture component errors, machine tool and hardware operating conditions errors and processing fluctuation errors on control accuracy, and further ensures machining accuracy.

[0096] In one embodiment, the first actual axis includes a first actual X-axis coordinate, a first actual Y-axis coordinate, and a first actual Z-axis coordinate, and the second actual axis includes a second actual X-axis coordinate, a second actual Y-axis coordinate, and a second actual Z-axis coordinate;

[0097] The first theoretical axis includes the first theoretical X-axis coordinate, the first theoretical Y-axis coordinate, and the first theoretical Z-axis coordinate; the second theoretical axis includes the second theoretical X-axis coordinate, the second theoretical Y-axis coordinate, and the second theoretical Z-axis coordinate.

[0098] Step S201, namely, obtaining the first offset based on the first actual axis center and the first theoretical axis center corresponding to the initial time, includes: obtaining the first Y-axis offset based on the first actual Y-axis coordinate and the first theoretical Y-axis coordinate; obtaining the first Z-axis offset based on the first actual Z-axis coordinate and the first theoretical Z-axis coordinate; wherein, the first offset includes the first Y-axis offset and the first Z-axis offset;

[0099] Step S202, namely, obtaining the second offset based on the second actual axis and the second theoretical axis corresponding to the current time, includes: obtaining the second Y-axis offset based on the second actual Y-axis coordinate and the second theoretical Y-axis coordinate; obtaining the second Z-axis offset based on the second actual Z-axis coordinate and the second theoretical Z-axis coordinate; wherein, the second offset includes the second Y-axis offset and the second Z-axis offset;

[0100] Step S203, namely, obtaining the axis offset based on the first offset and / or the second offset, includes: obtaining the axis Y-axis offset based on the first Y-axis offset and / or the second Y-axis offset; obtaining the axis Z-axis offset based on the first Z-axis offset and / or the second Z-axis offset; wherein the second Z-axis offset includes the axis Y-axis offset and the axis Y-axis offset.

[0101] As an example, the first actual axis corresponding to the initial moment includes the first actual X-axis coordinate, the first actual Y-axis coordinate, and the first actual Z-axis coordinate. Let the first actual axis be A1(Xa1,Ya1,Za1), where Xa1 is the first actual X-axis coordinate, Ya1 is the first actual Y-axis coordinate, and Za1 is the first actual Z-axis coordinate. The second actual axis corresponding to the current moment includes the second actual X-axis coordinate, the second actual Y-axis coordinate, and the second actual Z-axis coordinate. Let the second actual axis be A2(Xa2,Ya2,Za2), where Xa2 is the second actual X-axis coordinate, Ya2 is the second actual Y-axis coordinate, and Za2 is the second actual Z-axis coordinate.

[0102] As an example, the first theoretical axis corresponding to the initial moment includes the first theoretical X-axis coordinate, the first theoretical Y-axis coordinate, and the first theoretical Z-axis coordinate. Let the first theoretical axis be b1(Xb1,Yb1,Zb1), where Xb1 is the first theoretical X-axis coordinate, Yb1 is the first theoretical Y-axis coordinate, and Zb1 is the first theoretical Z-axis coordinate. The second theoretical axis corresponding to the current moment includes the second theoretical X-axis coordinate, the second theoretical Y-axis coordinate, and the second theoretical Z-axis coordinate. Let the second theoretical axis be b2(Xb2,Yb2,Zb2), where Xb2 is the second theoretical X-axis coordinate, Yb2 is the second theoretical Y-axis coordinate, and Zb2 is the second theoretical Z-axis coordinate.

[0103] Generally speaking, when a machining controller controls the operation of a multi-axis fixture, errors in the frame design, the components of the multi-axis fixture, the fluctuations in the product processing, and the operating conditions of the machine tool and hardware can cause changes in the Y-axis and Z-axis of the multi-axis fixture. These changes can affect the machining accuracy of the multi-axis fixture.

[0104] As an example, when the machining controller changes the Y-axis of the multi-axis fixture, it can obtain the first Y-axis offset corresponding to the initial moment based on the first actual Y-axis coordinate and the first theoretical Y-axis coordinate. Specifically, the difference between the first actual Y-axis coordinate and the first theoretical Y-axis coordinate is determined as the first Y-axis offset, i.e., Yab1 = Ya1 - Yb1, where Yab1 is the first Y-axis offset, Ya1 is the first actual Y-axis coordinate, and Yb1 is the first theoretical Y-axis coordinate.

[0105] Accordingly, when the Y-axis of the multi-axis fixture changes, the machining controller can obtain the second Y-axis offset corresponding to the current moment based on the second actual Y-axis coordinate and the second theoretical Y-axis coordinate. Specifically, the difference between the second actual Y-axis coordinate and the second theoretical Y-axis coordinate is determined as the second Y-axis offset, i.e., Yab2 = Ya2 - Yb2, where Yab2 is the second Y-axis offset, Ya2 is the second actual Y-axis coordinate, and Yb2 is the second theoretical Y-axis coordinate.

[0106] As an example, when the machining controller changes the Z-axis of the multi-axis fixture, it can obtain the first Z-axis offset based on the first actual Z-axis coordinate and the first theoretical Z-axis coordinate at the initial moment. Specifically, the difference between the first actual Z-axis coordinate and the first theoretical Z-axis coordinate is determined as the first Z-axis offset, i.e., Zab1 = Za1 - Zb1, where Zab1 is the first Z-axis offset, Za1 is the first actual Z-axis coordinate, and Zb1 is the first theoretical Z-axis coordinate.

[0107] Accordingly, when the axis of the multi-axis fixture changes in the Z direction, the machining controller can obtain the second Z-axis offset based on the second actual Z-axis coordinate and the second theoretical Z-axis coordinate. Specifically, the difference between the second actual Z-axis coordinate and the second theoretical Z-axis coordinate is determined as the second Z-axis offset, i.e., Zab2 = Za2 - Zb2, where Zab2 is the second Z-axis offset, Za2 is the second actual Z-axis coordinate, and Zb2 is the second theoretical Z-axis coordinate.

[0108] As an example, the machining controller can directly determine the first Y-axis offset Yab1 corresponding to the initial moment as the axis Y-axis offset Yab; it can also directly determine the second Y-axis offset Yab2 corresponding to the current moment as the axis Y-axis offset Yab; or, it can calculate the axis Y-axis offset by combining the first Y-axis offset Yab1 and the second Y-axis offset Yab2, for example, the sum of the first Y-axis offset Yab1 and the second Y-axis offset Yab2 is determined as the axis Y-axis offset Yab.

[0109] Accordingly, the machining controller can directly determine the first Z-axis offset Zab1 corresponding to the initial moment as the axis Z-axis offset Zab; it can also directly determine the second Z-axis offset Zab2 corresponding to the current moment as the axis Z-axis offset Zab; or, it can calculate the axis Z-axis offset by combining the first Z-axis offset Zab1 and the second Z-axis offset Zab2, for example, by determining the sum of the first Z-axis offset Zab1 and the second Z-axis offset Zab2 as the axis Z-axis offset Zab.

[0110] In one embodiment, the shaft offset includes a shaft Y-axis offset and a shaft Y-axis offset;

[0111] Step S104, namely, obtaining the axis compensation value based on the axis offset and the target rotation angle, includes: obtaining the axis Y-axis compensation value based on the axis Y-axis offset, axis Z-axis offset and the target rotation angle; obtaining the axis Z-axis compensation value based on the axis Y-axis offset, axis Z-axis offset and the target rotation angle; wherein, the axis compensation value includes the axis Y-axis compensation value and the axis Z-axis compensation value.

[0112] The shaft compensation value includes the shaft Y-axis compensation value and the shaft Z-axis compensation value.

[0113] As an example, generally speaking, when a machining controller controls the operation of a multi-axis fixture, errors in the frame design, the components of the multi-axis fixture, fluctuations in the product processing, and errors in the machine tool and hardware conditions can cause changes in the Y-axis and Z-axis of the multi-axis fixture. These changes can affect the machining accuracy of the multi-axis fixture. Therefore, based on the actual axis and the original theoretical axis, the two axis offsets, Y-axis offset and Z-axis offset, are determined.

[0114] As an example, the machining controller can employ a Y-axis compensation value calculation strategy to calculate the Y-axis compensation value based on several input parameters, including the Y-axis offset, Z-axis offset, and target rotation angle. This Y-axis compensation value calculation strategy is a pre-set strategy used to calculate the Y-axis compensation value in real time based on the input parameters of the Y-axis offset, Z-axis offset, and target rotation angle.

[0115] As an example, the machining controller can employ a Z-axis compensation value calculation strategy to calculate the Z-axis compensation value based on several input parameters, including the Y-axis offset, Z-axis offset, and target rotation angle. This Z-axis compensation value calculation strategy is a pre-set strategy used to calculate the Z-axis compensation value in real time based on the input parameters of the Y-axis offset, Z-axis offset, and target rotation angle.

[0116] In one embodiment, the axial Y-axis compensation value is obtained based on the axial Y-axis offset, the axial Z-axis offset, and the target rotation angle, including:

[0117] The Y-axis compensation value formula is used to calculate the Y-axis offset, Z-axis offset, and target rotation angle to obtain the Y-axis compensation value. The Y-axis compensation value formula is: Y-axis compensation value = Z-axis offset * sinT + Y-axis offset * cosT.

[0118] Based on the Y-axis offset, Z-axis offset, and target rotation angle, obtain the Z-axis compensation value, including:

[0119] The Z-axis compensation value formula is used to calculate the Y-axis offset, Z-axis offset, and target rotation angle to obtain the Z-axis compensation value. The Z-axis compensation value formula is: Z-axis compensation value = Z-axis offset * cosT - Y-axis offset * sinT;

[0120] Where T is the target rotation angle.

[0121] As an example, after obtaining the Y-axis offset, Z-axis offset, and target rotation angle, the machining controller can use a pre-set Y-axis compensation value formula to calculate the Y-axis offset, Z-axis offset, and target rotation angle to obtain the Y-axis compensation value. The Y-axis compensation value formula is: Y-axis compensation value = Z-axis offset * sinT + Y-axis offset * cosT = Zab * sinT + Yab * sinT.

[0122] As an example, after obtaining the Y-axis offset, Z-axis offset, and target rotation angle, the machining controller can use a pre-set Z-axis compensation value formula to calculate the Y-axis offset, Z-axis offset, and target rotation angle to obtain the Z-axis compensation value. The Z-axis compensation value formula is: Z-axis compensation value = Z-axis offset * cosT - Y-axis offset * sinT = Zab * cosT - Yab * sinA.

[0123] In one embodiment, obtaining the target theoretical axis center based on the actual axis center and the axis center compensation value includes:

[0124] The theoretical Y-axis coordinates of the target are obtained based on the actual Y-axis coordinates and the Y-axis compensation value of the axis.

[0125] The theoretical Z-axis coordinates of the target are obtained based on the actual Z-axis coordinates and the Z-axis compensation value.

[0126] In this example, the target theoretical axis includes the target theoretical X-axis coordinate, the target theoretical Y-axis coordinate, and the target theoretical Z-axis coordinate.

[0127] As an example, the machining controller can use a theoretical axis center calculation formula to calculate the axis center Y-axis compensation value and the actual Y-axis coordinate to obtain the target theoretical Y-axis coordinate. For example, the sum of the axis center Y-axis compensation value and the actual Y-axis coordinate can be determined as the target theoretical Y-axis coordinate, i.e., target theoretical Y-axis coordinate = actual Y-axis coordinate + axis center Y-axis compensation value = actual Y-axis coordinate + axis center Z-axis offset * sinT + axis center Y-axis offset * cosT. Understandably, using the actual Y-axis coordinate and the axis center Y-axis compensation value for compensation calculation ensures that the accuracy of the calculated target theoretical Y-axis coordinate is higher than that of the original theoretical Y-axis coordinate, thus helping to ensure the control accuracy of machining control based on the target theoretical axis center.

[0128] like Figure 3 As shown, when the Y-axis changes, point A is the actual axis center, point B is the original theoretical axis center, AB is the axis center offset in the Y direction, BF is the original theoretical Z-axis coordinate, AE is the actual Z-axis coordinate, FD is the original theoretical Y-axis coordinate, and DE is the actual Y-axis coordinate. That is, EC = axis center offset in the Z direction * sinT = AB * sinT, EF = axis center offset in the Y direction * cosT = AB * cosT. In other words, the target theoretical Y-axis coordinate = DE + EC + EF. During the machining process where the machining controller performs machining according to the actual axis center, in order to ensure the machining quality of the product to be processed, machining control needs to be performed based on the compensated target theoretical Y-axis coordinate to adapt to the machining effect of the actual axis center and avoid incomplete machining or over-milling.

[0129] As an example, the theoretical axis calculation formula can be used to calculate the actual Z-axis coordinate and the axis Z-direction compensation value to obtain the target theoretical Z-axis coordinate. For instance, the sum of the actual Z-axis coordinate and the axis Z-direction compensation value can be determined as the target theoretical Z-axis coordinate, i.e., target theoretical Z-axis coordinate = actual Z-axis coordinate + axis Z-direction compensation value = actual Z-axis coordinate + axis Z-direction offset * cosT - axis Y-direction offset * sinT. Understandably, using the actual Z-axis coordinate and the axis Z-direction compensation value for compensation calculation ensures that the accuracy of the calculated target theoretical Z-axis coordinate is higher than that of the original theoretical Z-axis coordinate, thus helping to ensure the control accuracy of machining control based on the target theoretical axis.

[0130] like Figure 4 As shown, when the Z-axis changes, point A is the actual axis center, and point B is the original theoretical axis center. That is, AB is the axis center Z-axis offset, BE is the original theoretical Z-axis coordinate, AD is the actual Z-axis coordinate, EF is the original theoretical Y-axis coordinate, and DF is the actual Y-axis coordinate. That is, DC = axis center Z-axis offset * cosT = AB * cosT, DE = axis center Y-axis offset * sinT = AB * sinT. In other words, the target theoretical Z-axis coordinate = BD + DC - DE. During the machining process where the machining controller performs machining according to the actual axis center, in order to ensure the machining quality of the product to be processed, machining control needs to be performed based on the compensated target theoretical Z-axis coordinate to adapt to the machining effect of the actual axis center and avoid incomplete machining or over-milling.

[0131] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0132] In one embodiment, a processing controller is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the processing control method described in the above embodiment, for example... Figure 1 As shown in S101-S102, or Figure 2 As shown in S201-S203, they will not be described again here to avoid repetition.

[0133] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program implements the processing control method described in the above embodiment, for example... Figure 1 As shown in S101-S102, or Figure 2 As shown in S201-S203, they will not be described again here to avoid repetition.

[0134] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RaM is available in a variety of forms, such as Static RaM (SRaM), Dynamic RaM (DRaM), Synchronous DRaM (SDRaM), Dual Data Rate SRaM (DDRSDRaM), Enhanced SRaM (ESDRaM), Synchlink DRaM (SLDRaM), Rambus Direct RaM (RDRaM), Direct Memory Bus Dynamic RaM (DRDRaM), and Memory Bus Dynamic RaM (RDRaM), etc.

[0135] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0136] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A process control method characterized by, include: Place the product to be processed at the target workstation and obtain the actual axis center and the original theoretical axis center of the multi-axis fixture corresponding to the target workstation. The axis offset is obtained based on the actual axis and the original theoretical axis. Obtain the target rotation angle corresponding to the product to be processed; the target rotation angle is determined based on the processing requirements of the product to be processed, and the rotation angle that needs to be controlled during processing is determined. The axis compensation value is obtained based on the axis offset and the target rotation angle; Based on the actual axis center and the axis center compensation value, the target theoretical axis center is obtained; Based on the target theoretical axis, the multi-axis fixture is controlled to process the product to be processed.

2. The process control method of claim 1 wherein, The actual axis center includes the actual Y-axis coordinate and the actual Z-axis coordinate; the original theoretical axis center includes the original theoretical Y-axis coordinate and the original theoretical Z-axis coordinate. The step of obtaining the axis offset based on the actual axis and the original theoretical axis includes: Based on the actual Y-axis coordinates and the original theoretical Y-axis coordinates, the Y-axis offset of the axis is obtained; Based on the actual Z-axis coordinates and the original theoretical Z-axis coordinates, the Z-axis offset of the axis is obtained; The axis offset includes the axis Y-axis offset and the axis Y-axis offset.

3. The process control method of claim 1 wherein, The actual axis includes a first actual axis corresponding to the initial time and a second actual axis corresponding to the current time; the original theoretical axis includes a first theoretical axis corresponding to the initial time and a second theoretical axis corresponding to the current time. The step of obtaining the axis offset based on the actual axis and the original theoretical axis includes: The first offset is obtained based on the first actual axis and the first theoretical axis corresponding to the initial moment; The second offset is obtained based on the second actual axis and the second theoretical axis corresponding to the current moment; The axis offset is obtained based on the first offset and / or the second offset.

4. The process control method of claim 3 wherein, The first actual axis includes a first actual X-axis coordinate, a first actual Y-axis coordinate, and a first actual Z-axis coordinate; the second actual axis includes a second actual X-axis coordinate, a second actual Y-axis coordinate, and a second actual Z-axis coordinate. The first theoretical axis includes a first theoretical X-axis coordinate, a first theoretical Y-axis coordinate, and a first theoretical Z-axis coordinate; the second theoretical axis includes a second theoretical X-axis coordinate, a second theoretical Y-axis coordinate, and a second theoretical Z-axis coordinate. The step of obtaining the first offset based on the first actual axis and the first theoretical axis corresponding to the initial time includes: Based on the first actual Y-axis coordinate and the first theoretical Y-axis coordinate, a first Y-axis offset is obtained; based on the first actual Z-axis coordinate and the first theoretical Z-axis coordinate, a first Z-axis offset is obtained; wherein, the first offset includes the first Y-axis offset and the first Z-axis offset; The step of obtaining the second offset based on the second actual axis and the second theoretical axis corresponding to the current moment includes: Based on the second actual Y-axis coordinate and the second theoretical Y-axis coordinate, obtain the second Y-axis offset; based on the second actual Z-axis coordinate and the second theoretical Z-axis coordinate, obtain the second Z-axis offset; wherein, the second offset includes the second Y-axis offset and the second Z-axis offset; The step of obtaining the axis offset based on the first offset and / or the second offset includes: The axis Y-axis offset is obtained based on the first Y-axis offset and / or the second Y-axis offset; the axis Z-axis offset is obtained based on the first Z-axis offset and / or the second Z-axis offset; wherein the second Z-axis offset includes the axis Y-axis offset and the axis Y-axis offset.

5. The process control method of claim 4, wherein, The axis offset includes the axis Y-axis offset and the axis Y-axis offset; The step of obtaining the axis compensation value based on the axis offset and the target rotation angle includes: The Y-axis compensation value is obtained based on the Y-axis offset, the Z-axis offset, and the target rotation angle. The Z-axis compensation value is obtained based on the Y-axis offset, the Z-axis offset, and the target rotation angle. The shaft center compensation value includes the shaft center Y-axis compensation value and the shaft center Z-axis compensation value.

6. The processing control method as described in claim 5, characterized in that, The step of obtaining the axis Y-axis compensation value based on the axis Y-axis offset, the axis Z-axis offset, and the target rotation angle includes: The Y-axis compensation value is calculated using the Y-axis offset, the Z-axis offset, and the target rotation angle to obtain the Y-axis compensation value. The Y-axis compensation value formula is: Y-axis compensation value = Z-axis offset * sinT + Y-axis offset * cosT. The step of obtaining the Z-axis compensation value based on the Y-axis offset, the Z-axis offset, and the target rotation angle includes: The Z-axis compensation value formula is used to calculate the Y-axis offset of the axis, the Z-axis offset of the axis, and the target rotation angle to obtain the Z-axis compensation value. The Z-axis compensation value formula is: Z-axis compensation value = Z-axis offset * cosT - Y-axis offset * sinT; Where T is the target rotation angle.

7. The process control method of claim 1 wherein, The actual axis center includes the actual Y-axis coordinate and the actual Z-axis coordinate; the axis center compensation value includes the axis center Y-axis compensation value and the axis center Z-axis compensation value; The step of obtaining the target theoretical axis center based on the actual axis center and the axis center compensation value includes: Based on the actual Y-axis coordinates and the Y-axis compensation value, the target theoretical Y-axis coordinates are obtained; The target theoretical Z-axis coordinates are obtained based on the actual Z-axis coordinates and the Z-axis compensation value.

8. A process controller comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, When the processor executes the computer program, it implements the processing control method as described in any one of claims 1 to 7.

9. A product processing apparatus comprising a target station for placing a product to be processed, a multi-axis jig disposed opposite the target station, characterized by, It also includes the machining controller as described in claim 8, wherein the machining controller is connected to the multi-axis fixture.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 9. When the computer program is executed by the processor, it implements the processing control method as described in any one of claims 1 to 7.

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